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BranchOutClosedLoopMetrics2D

rust_robotics_planning::branchout_multimodal

Struct BranchOutClosedLoopMetrics2D 

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pub struct BranchOutClosedLoopMetrics2D {
    pub steps: usize,
    pub route_completion: f64,
    pub reached_goal: bool,
    pub collision_steps: usize,
    pub no_collision_rate: f64,
    pub min_clearance: f64,
    pub mean_comfort_cost: f64,
    pub min_time_to_collision: f64,
    pub risky_ttc_steps: usize,
    pub executed_path: Vec<BranchOutPose2D>,
    pub mode_sequence: Vec<BranchOutDecisionMode2D>,
}
Expand description

Closed-loop driving metrics from a receding-horizon BranchOut rollout.

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§steps: usize§route_completion: f64§reached_goal: bool§collision_steps: usize§no_collision_rate: f64§min_clearance: f64§mean_comfort_cost: f64§min_time_to_collision: f64§risky_ttc_steps: usize§executed_path: Vec<BranchOutPose2D>

Realized closed-loop ego path (start pose plus one pose per step).

§mode_sequence: Vec<BranchOutDecisionMode2D>

Decision mode selected at each control step.

Trait Implementations§

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impl Clone for BranchOutClosedLoopMetrics2D

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fn clone(&self) -> BranchOutClosedLoopMetrics2D

Returns a duplicate of the value. Read more
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fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source. Read more
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impl Debug for BranchOutClosedLoopMetrics2D

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fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter. Read more
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impl PartialEq for BranchOutClosedLoopMetrics2D

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fn eq(&self, other: &BranchOutClosedLoopMetrics2D) -> bool

Tests for self and other values to be equal, and is used by ==.
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fn ne(&self, other: &Rhs) -> bool

Tests for !=. The default implementation is almost always sufficient, and should not be overridden without very good reason.
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impl StructuralPartialEq for BranchOutClosedLoopMetrics2D

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impl<T> Any for T
where T: 'static + ?Sized,

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Gets the TypeId of self. Read more
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fn borrow_mut(&mut self) -> &mut T

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unsafe fn clone_to_uninit(&self, dest: *mut u8)

🔬This is a nightly-only experimental API. (clone_to_uninit)
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